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Cosmology - the science of the Universe at large - has experienced a renaissance in the decades bracketing the turn of the twenty-first century. Exploring our emerging understanding of cosmology, this text takes two complementary points of view: the physical principles underlying theories of cosmology, and the observable consequences of models of Universal expansion. The book develops cosmological models based on fundamental physical principles, with mathematics limited to the minimum necessary to keep the material accessible for students of physics and astronomy at the advanced undergraduate level. A substantial review of general relativity leading up to the Einstein field equations is included, with derivations of explicit formulations connecting observable features of the Universe to models of its expansion. Self-contained and up to date in respect of modern observations, the text provides a solid theoretical grounding in modern cosmology while preparing readers for the changes that will inevitably come from future observations.